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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">dual_quat_to_hom_mat3d</span><span data-if="c" style="display:none;">T_dual_quat_to_hom_mat3d</span><span data-if="cpp" style="display:none;">DualQuatToHomMat3d</span><span data-if="dotnet" style="display:none;">DualQuatToHomMat3d</span><span data-if="python" style="display:none;">dual_quat_to_hom_mat3d</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">dual_quat_to_hom_mat3d</span><span data-if="c" style="display:none;">T_dual_quat_to_hom_mat3d</span><span data-if="cpp" style="display:none;">DualQuatToHomMat3d</span><span data-if="dotnet" style="display:none;">DualQuatToHomMat3d</span><span data-if="python" style="display:none;">dual_quat_to_hom_mat3d</span></code> — Convert a unit dual quaternion into a homogeneous transformation matrix.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>dual_quat_to_hom_mat3d</b>( :  : <a href="#DualQuaternion"><i>DualQuaternion</i></a> : <a href="#HomMat3D"><i>HomMat3D</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_dual_quat_to_hom_mat3d</b>(const Htuple <a href="#DualQuaternion"><i>DualQuaternion</i></a>, Htuple* <a href="#HomMat3D"><i>HomMat3D</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>DualQuatToHomMat3d</b>(const HTuple&amp; <a href="#DualQuaternion"><i>DualQuaternion</i></a>, HTuple* <a href="#HomMat3D"><i>HomMat3D</i></a>)</code></p>
<p>
<code><a href="HHomMat3D.html">HHomMat3D</a> <a href="HDualQuaternion.html">HDualQuaternion</a>::<b>DualQuatToHomMat3d</b>() const</code></p>
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<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>DualQuatToHomMat3d</b>(<a href="HTuple.html">HTuple</a> <a href="#DualQuaternion"><i>dualQuaternion</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#HomMat3D"><i>homMat3D</i></a>)</code></p>
<p>
<code><a href="HHomMat3D.html">HHomMat3D</a> <a href="HDualQuaternion.html">HDualQuaternion</a>.<b>DualQuatToHomMat3d</b>()</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>dual_quat_to_hom_mat3d</b>(<a href="#DualQuaternion"><i>dual_quaternion</i></a>: Sequence[float]) -&gt; Sequence[float]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>该算子 <code><span data-if="hdevelop" style="display:inline">dual_quat_to_hom_mat3d</span><span data-if="c" style="display:none">dual_quat_to_hom_mat3d</span><span data-if="cpp" style="display:none">DualQuatToHomMat3d</span><span data-if="com" style="display:none">DualQuatToHomMat3d</span><span data-if="dotnet" style="display:none">DualQuatToHomMat3d</span><span data-if="python" style="display:none">dual_quat_to_hom_mat3d</span></code> converts a unit dual quaternion
<a href="#DualQuaternion"><i><code><span data-if="hdevelop" style="display:inline">DualQuaternion</span><span data-if="c" style="display:none">DualQuaternion</span><span data-if="cpp" style="display:none">DualQuaternion</span><span data-if="com" style="display:none">DualQuaternion</span><span data-if="dotnet" style="display:none">dualQuaternion</span><span data-if="python" style="display:none">dual_quaternion</span></code></i></a>, which represents a 3D rigid transformation,
into its corresponding homogeneous transformation matrix <a href="#HomMat3D"><i><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></i></a>.
</p>
<p>For a brief introduction to dual quaternions, the used notation, and the
relationship between dual quaternions and screws, see
<code>“Solution Guide III-C - 3D Vision”</code>.
</p>
<p>The rotation part of <a href="#HomMat3D"><i><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></i></a> is computed from the
real part of the dual quaternion, as described in <a href="quat_to_hom_mat3d.html"><code><span data-if="hdevelop" style="display:inline">quat_to_hom_mat3d</span><span data-if="c" style="display:none">quat_to_hom_mat3d</span><span data-if="cpp" style="display:none">QuatToHomMat3d</span><span data-if="com" style="display:none">QuatToHomMat3d</span><span data-if="dotnet" style="display:none">QuatToHomMat3d</span><span data-if="python" style="display:none">quat_to_hom_mat3d</span></code></a>.
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from the real and dual part of
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where <span title="4" style="vertical-align:-0.401723em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.19118em" height="0.858363em" viewBox="0 0 19.058945 13.733810">
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</svg></span> is the vector part of the quaternion
<span title="5" style="vertical-align:-0.26474em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.627242em" height="0.767041em" viewBox="0 0 10.035873 12.272659">
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</svg></span>.
</p>
<h2 id="sec_attention">注意</h2>
<p><a href="#HomMat3D"><i><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></i></a> will only be a valid rigid transformation matrix if
<a href="#DualQuaternion"><i><code><span data-if="hdevelop" style="display:inline">DualQuaternion</span><span data-if="c" style="display:none">DualQuaternion</span><span data-if="cpp" style="display:none">DualQuaternion</span><span data-if="com" style="display:none">DualQuaternion</span><span data-if="dotnet" style="display:none">dualQuaternion</span><span data-if="python" style="display:none">dual_quaternion</span></code></i></a> is a unit dual quaternion.</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="DualQuaternion" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DualQuaternion</span><span data-if="c" style="display:none">DualQuaternion</span><span data-if="cpp" style="display:none">DualQuaternion</span><span data-if="com" style="display:none">DualQuaternion</span><span data-if="dotnet" style="display:none">dualQuaternion</span><span data-if="python" style="display:none">dual_quaternion</span></code></b> (input_control)  </span><span>dual_quaternion <code>→</code> <span data-if="dotnet" style="display:none"><a href="HDualQuaternion.html">HDualQuaternion</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Unit dual quaternion.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="HomMat3D" class="parname"><b><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></b> (output_control)  </span><span>hom_mat3d <code>→</code> <span data-if="dotnet" style="display:none"><a href="HHomMat3D.html">HHomMat3D</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Transformation matrix.</p>
</div>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="screw_to_dual_quat.html"><span data-if="hdevelop" style="display:inline">screw_to_dual_quat</span><span data-if="c" style="display:none">screw_to_dual_quat</span><span data-if="cpp" style="display:none">ScrewToDualQuat</span><span data-if="com" style="display:none">ScrewToDualQuat</span><span data-if="dotnet" style="display:none">ScrewToDualQuat</span><span data-if="python" style="display:none">screw_to_dual_quat</span></a></code>, 
<code><a href="dual_quat_interpolate.html"><span data-if="hdevelop" style="display:inline">dual_quat_interpolate</span><span data-if="c" style="display:none">dual_quat_interpolate</span><span data-if="cpp" style="display:none">DualQuatInterpolate</span><span data-if="com" style="display:none">DualQuatInterpolate</span><span data-if="dotnet" style="display:none">DualQuatInterpolate</span><span data-if="python" style="display:none">dual_quat_interpolate</span></a></code>, 
<code><a href="dual_quat_compose.html"><span data-if="hdevelop" style="display:inline">dual_quat_compose</span><span data-if="c" style="display:none">dual_quat_compose</span><span data-if="cpp" style="display:none">DualQuatCompose</span><span data-if="com" style="display:none">DualQuatCompose</span><span data-if="dotnet" style="display:none">DualQuatCompose</span><span data-if="python" style="display:none">dual_quat_compose</span></a></code>, 
<code><a href="dual_quat_normalize.html"><span data-if="hdevelop" style="display:inline">dual_quat_normalize</span><span data-if="c" style="display:none">dual_quat_normalize</span><span data-if="cpp" style="display:none">DualQuatNormalize</span><span data-if="com" style="display:none">DualQuatNormalize</span><span data-if="dotnet" style="display:none">DualQuatNormalize</span><span data-if="python" style="display:none">dual_quat_normalize</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="affine_trans_point_3d.html"><span data-if="hdevelop" style="display:inline">affine_trans_point_3d</span><span data-if="c" style="display:none">affine_trans_point_3d</span><span data-if="cpp" style="display:none">AffineTransPoint3d</span><span data-if="com" style="display:none">AffineTransPoint3d</span><span data-if="dotnet" style="display:none">AffineTransPoint3d</span><span data-if="python" style="display:none">affine_trans_point_3d</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="dual_quat_to_pose.html"><span data-if="hdevelop" style="display:inline">dual_quat_to_pose</span><span data-if="c" style="display:none">dual_quat_to_pose</span><span data-if="cpp" style="display:none">DualQuatToPose</span><span data-if="com" style="display:none">DualQuatToPose</span><span data-if="dotnet" style="display:none">DualQuatToPose</span><span data-if="python" style="display:none">dual_quat_to_pose</span></a></code>, 
<code><a href="dual_quat_to_screw.html"><span data-if="hdevelop" style="display:inline">dual_quat_to_screw</span><span data-if="c" style="display:none">dual_quat_to_screw</span><span data-if="cpp" style="display:none">DualQuatToScrew</span><span data-if="com" style="display:none">DualQuatToScrew</span><span data-if="dotnet" style="display:none">DualQuatToScrew</span><span data-if="python" style="display:none">dual_quat_to_screw</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="dual_quat_compose.html"><span data-if="hdevelop" style="display:inline">dual_quat_compose</span><span data-if="c" style="display:none">dual_quat_compose</span><span data-if="cpp" style="display:none">DualQuatCompose</span><span data-if="com" style="display:none">DualQuatCompose</span><span data-if="dotnet" style="display:none">DualQuatCompose</span><span data-if="python" style="display:none">dual_quat_compose</span></a></code>, 
<code><a href="pose_to_dual_quat.html"><span data-if="hdevelop" style="display:inline">pose_to_dual_quat</span><span data-if="c" style="display:none">pose_to_dual_quat</span><span data-if="cpp" style="display:none">PoseToDualQuat</span><span data-if="com" style="display:none">PoseToDualQuat</span><span data-if="dotnet" style="display:none">PoseToDualQuat</span><span data-if="python" style="display:none">pose_to_dual_quat</span></a></code>, 
<code><a href="dual_quat_conjugate.html"><span data-if="hdevelop" style="display:inline">dual_quat_conjugate</span><span data-if="c" style="display:none">dual_quat_conjugate</span><span data-if="cpp" style="display:none">DualQuatConjugate</span><span data-if="com" style="display:none">DualQuatConjugate</span><span data-if="dotnet" style="display:none">DualQuatConjugate</span><span data-if="python" style="display:none">dual_quat_conjugate</span></a></code>, 
<code><a href="serialize_dual_quat.html"><span data-if="hdevelop" style="display:inline">serialize_dual_quat</span><span data-if="c" style="display:none">serialize_dual_quat</span><span data-if="cpp" style="display:none">SerializeDualQuat</span><span data-if="com" style="display:none">SerializeDualQuat</span><span data-if="dotnet" style="display:none">SerializeDualQuat</span><span data-if="python" style="display:none">serialize_dual_quat</span></a></code>, 
<code><a href="deserialize_dual_quat.html"><span data-if="hdevelop" style="display:inline">deserialize_dual_quat</span><span data-if="c" style="display:none">deserialize_dual_quat</span><span data-if="cpp" style="display:none">DeserializeDualQuat</span><span data-if="com" style="display:none">DeserializeDualQuat</span><span data-if="dotnet" style="display:none">DeserializeDualQuat</span><span data-if="python" style="display:none">deserialize_dual_quat</span></a></code>, 
<code><a href="dual_quat_trans_line_3d.html"><span data-if="hdevelop" style="display:inline">dual_quat_trans_line_3d</span><span data-if="c" style="display:none">dual_quat_trans_line_3d</span><span data-if="cpp" style="display:none">DualQuatTransLine3d</span><span data-if="com" style="display:none">DualQuatTransLine3d</span><span data-if="dotnet" style="display:none">DualQuatTransLine3d</span><span data-if="python" style="display:none">dual_quat_trans_line_3d</span></a></code>, 
<code><a href="dual_quat_trans_point_3d.html"><span data-if="hdevelop" style="display:inline">dual_quat_trans_point_3d</span><span data-if="c" style="display:none">dual_quat_trans_point_3d</span><span data-if="cpp" style="display:none">DualQuatTransPoint3d</span><span data-if="com" style="display:none">DualQuatTransPoint3d</span><span data-if="dotnet" style="display:none">DualQuatTransPoint3d</span><span data-if="python" style="display:none">dual_quat_trans_point_3d</span></a></code>, 
<code><a href="quat_to_hom_mat3d.html"><span data-if="hdevelop" style="display:inline">quat_to_hom_mat3d</span><span data-if="c" style="display:none">quat_to_hom_mat3d</span><span data-if="cpp" style="display:none">QuatToHomMat3d</span><span data-if="com" style="display:none">QuatToHomMat3d</span><span data-if="dotnet" style="display:none">QuatToHomMat3d</span><span data-if="python" style="display:none">quat_to_hom_mat3d</span></a></code>
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<h2 id="sec_module">模块</h2>
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Foundation</p>
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